TY - GEN
T1 - Model-based passivity control for bilateral teleoperation of a surgical robot with time delay
AU - Kawashima, Kenji
AU - Tadano, Kotaro
AU - Sankaranarayanan, Ganesh
AU - Hannaford, Blake
PY - 2008
Y1 - 2008
N2 - In minimally invasive telesurgical systems, displaying the forces measured at the slave side is an important issue. Latency in communication lines limits the transmission of vivid tactile sensations and drives the system unstable. In this paper, we propose a new model-based approach for the bilateral control of a telesurgical robot using time-domain passivity control. This method consists of a virtual slave model implemented at the master side to estimate the force on the slave side. During the operation, the estimated force from the virtual slave is added to the actual measured force transmitted from the slave in order to maintain the passivity of the system. Both simulation and experimental results confirm the performance of this new controller.
AB - In minimally invasive telesurgical systems, displaying the forces measured at the slave side is an important issue. Latency in communication lines limits the transmission of vivid tactile sensations and drives the system unstable. In this paper, we propose a new model-based approach for the bilateral control of a telesurgical robot using time-domain passivity control. This method consists of a virtual slave model implemented at the master side to estimate the force on the slave side. During the operation, the estimated force from the virtual slave is added to the actual measured force transmitted from the slave in order to maintain the passivity of the system. Both simulation and experimental results confirm the performance of this new controller.
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U2 - 10.1109/IROS.2008.4650684
DO - 10.1109/IROS.2008.4650684
M3 - Conference contribution
AN - SCOPUS:69549124444
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 1427
EP - 1432
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -